Pin_Out_list.txt

For left incremental encoder next to the left rear wheel:
Green wire (Output A): Pin 2 on the Arduino Mega 2560
White wire (Output B): Pin 3 on the Arduino Mega 2560
Yellow wire (Output Z): Pin 18 on the Arduino Mega 2560
Red wire to VCC
Black wire to GND


For right incremental encoder next to the right rear wheel
Green wire (Output A): Pin 19 on the Arduino Mega 2560
White wire (Output B): Pin 20 on the Arduino Mega 2560
Yellow wire (Output Z): Pin 21 on the Arduino Mega 2560
Red wire to VCC
Black wire to GND

All the numbered pins shown above are used for digital interrupts.


For the Absolute Encoder:
Pin 1 on EMS22A (Digital Input) connects to GND
Pin 2 on EMS22A (Clock) connects to pin 6 on Arduino Uno
Pin 3 on EMS22A (GND) connects to GND
Pin 4 on EMS22A (Digital Output) connects to pin 7 on Arduino Uno
Pin 5 on EMS22A (VCC) connects to VCC
Pin 6 on EMS22A (Chip Select) connects to pin 8 on Arduino Uno

Arduino Uno pin 6 outputs the clocking signal that triggers the Digital Output pin on EMS22A to send out bits of data. One reading
corresponds to 10 bits of data, plus another 6 bits for checking purposes.
Arduino Uno pin 8 outputs a pulse signal to enable the absolute encoder to output a new reading every byte.

For the front Motor Controller:
PWM pin goes to Pin 6 on the Arduino Mega
DIR pin goes the Pin 7 on the Arduino Mega

For the rear Motor Controller:
PWN pin goes to Pin 9 on the Arduino Mega
DIR pin foes the PIn 8 on the Arduino Mega